A versatile System-on-a-Programmable-Chip for array processing and binaural robot audition

This paper champions the use of Systems-on-a-Programmable-Chip (SoPCs) on FPGAs for robot audition. Technical and methodological aspects are discussed. On this basis, evolutions of the “Embedded Audition for Robotics” (EAR) sensor are presented. A versatile design has been obtained for array processing, enabling to implement information-theoretic multiple source detection and broadband beamspace MUSIC source localization at up to 45Hz. Recent evolutions towards binaural and large-scale arrays are finally discussed.